; -*- mode: lisp; -*-

(RSG 0 1)
(
    (templ $radius $length $totalMass)

    (nd RigidBody
        (setName capsuleBody)
        (setCapsuleTotal $totalMass $radius $length)

        (importScene rsg/agent/nao/dragcontroller.rsg)
    )

    (nd CapsuleCollider
        (setParams $radius $length)

        (importScene rsg/agent/nao/contactjointhandler.rsg)
    )
 )
